ola31/drok3_description

drok3 description

설치

cd catkin_ws/src

git clone https://github.com/ola31/drok3_description.git

git clone https://github.com/ola31/cmdvel_to_cmdvel2.git

git clone https://github.com/ros-perception/laser_filters.git

cd ~/catkin_ws

catkin build drok3_description2 cmdvel_to_cmdvel2 laser_filters

slam gmapping 패키지 없을 경우

sudo apt-get install ros-melodic-gmapping

ROS 버전에 따라서 melodic 대신 kinetic, noetic 등을 넣어서 설치

실행

roslaunch drok3_description2 gazebo.launch 

slam gmapping

roslaunch drok3_description2 gazebo.launch

roslaunch drok3_description2 display.launch

rosrun gmapping slam_gmapping scan:=scan_filtered

gazebo map 경로 설정

gedit ~/.bashrc

ㄴ export GAZEBO_MODEL_PATH=~/catkin_ws/src/drok3_description/world (추가)

ㄴ 저장

source ~/.bashrc